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Rotational speed tracking for hydraulic‐motor‐driven machine‐tools
Author(s) -
Costanza V.,
Tuncelli A. C.,
Neuman C. E.
Publication year - 1996
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/(sici)1099-1514(199612)17:5<309::aid-oca576>3.0.co;2-k
Subject(s) - control theory (sociology) , acceleration , linearization , tracking (education) , work (physics) , quadratic equation , bilinear interpolation , classification of discontinuities , mathematics , computer science , nonlinear system , control (management) , mathematical analysis , engineering , physics , classical mechanics , mechanical engineering , psychology , pedagogy , quantum mechanics , artificial intelligence , statistics , geometry
The objective of this work is to design and compare control strategies for tracking certain velocity time functions prescribed for the speed variation of a hydraulic motor axis. Continuous velocity reference trajectories with finitely many acceleration discontinuities are treated. The model for the dynamics of the coupled motor—work‐table model is non‐linear and linearization has proven to be inadequate for describing the qualitative behaviour of the system. We show that the use of non‐linear models increases the stability and accuracy of the control. Exact and approximate techniques are developed, applied and compared whenever possible. The approximate approach leads to a bilinear‐quadratic optimal control problem whose solution, obtained through a power series expansion, provides, explicit formulae for general non‐linear optimal tracking approximation.